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  <div class="summary">
<a href="#define-members">宏定义</a> &#124;
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  <div class="headertitle">
<div class="title">main.cpp 文件参考</div>  </div>
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<div class="textblock"><code>#include &lt;ros/ros.h&gt;</code><br />
<code>#include &quot;math.h&quot;</code><br />
<code>#include &quot;route_tinker/route_tinker.h&quot;</code><br />
<code>#include &quot;route_tracker/route_tracker.h&quot;</code><br />
<code>#include &quot;route_tracker/wp_manager.h&quot;</code><br />
<code>#include &quot;uav_link_ifs/uavcontrol_interface.h&quot;</code><br />
<code>#include &quot;uav_link_ifs/mavlink_interface.h&quot;</code><br />
<code>#include &quot;base/cfg.h&quot;</code><br />
<code>#include &quot;base/baseMethod.h&quot;</code><br />
<code>#include &quot;base/baseType.h&quot;</code><br />
<code>#include &quot;flight_task/flow_attacher.h&quot;</code><br />
<code>#include &quot;sensor/lidar_data_process.h&quot;</code><br />
<code>#include &lt;minimumsnap_route/service.h&gt;</code><br />
<code>#include &lt;opencv2/opencv.hpp&gt;</code><br />
<code>#include &lt;mutex&gt;</code><br />
<code>#include &lt;thread&gt;</code><br />
<code>#include &lt;functional&gt;</code><br />
</div><div class="textblock"><div class="dynheader">
main.cpp 的引用(Include)关系图:</div>
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<div class="center"><img src="main_8cpp__incl.png" border="0" usemap="#src_2main_8cpp" alt=""/></div>
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<p><a href="main_8cpp_source.html">浏览源代码.</a></p>
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宏定义</h2></td></tr>
<tr class="memitem:a5ac4b17db930392c756a747dc7f98e5f"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>&#160;&#160;&#160;ROS_INFO</td></tr>
<tr class="separator:a5ac4b17db930392c756a747dc7f98e5f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
函数</h2></td></tr>
<tr class="memitem:abef969771cc38c5bef644aee2814c30f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="main_8cpp.html#abef969771cc38c5bef644aee2814c30f">spinWrapper</a> ()</td></tr>
<tr class="separator:abef969771cc38c5bef644aee2814c30f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a357c3c819884a88856b9af19f7056691"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="main_8cpp.html#a357c3c819884a88856b9af19f7056691">_copter_control_thread_Wrapper</a> (PID_2D_control *p, positon_Local_NED_t &amp;input_pos_flow)</td></tr>
<tr class="separator:a357c3c819884a88856b9af19f7056691"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a12ac40f811eae269ff4a59042875cb71"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="main_8cpp.html#a12ac40f811eae269ff4a59042875cb71">_rrt_thread_Wrapper</a> (CONNECT_RRT *p, PROBABILISTIC_MAP &amp;GridMap, FLY_PLAN_T &amp;current_route)</td></tr>
<tr class="separator:a12ac40f811eae269ff4a59042875cb71"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2a4c4a53067044ace13905beea7b2167"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="main_8cpp.html#a2a4c4a53067044ace13905beea7b2167">_waypointsMangaerThread_Wrapper</a> (WP_UPDATER *p, FLY_PLAN_T &amp;fly_plan, positon_Local_NED_t &amp;target_pos_flow)</td></tr>
<tr class="separator:a2a4c4a53067044ace13905beea7b2167"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aef80cffe0085e212ea7091537bd09d5b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="main_8cpp.html#aef80cffe0085e212ea7091537bd09d5b">system_init</a> (Parameters *_p_, UNIVERSAL_STATE *_unity_, UAVCONTROL_INTERFACE *_uav_ifs_, positon_Local_NED_t *target_pos_flow, FLY_PLAN_T *_sub_fly_wps_)</td></tr>
<tr class="separator:aef80cffe0085e212ea7091537bd09d5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c04138a5bfe5d72780bb7e82a18e627"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="main_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a> (int argc, char **argv)</td></tr>
<tr class="separator:a3c04138a5bfe5d72780bb7e82a18e627"><td class="memSeparator" colspan="2">&#160;</td></tr>
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变量</h2></td></tr>
<tr class="memitem:ad5e0dbd36f0d71fce9b00b7f991b2f38"><td class="memItemLeft" align="right" valign="top">std::mutex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a></td></tr>
<tr class="separator:ad5e0dbd36f0d71fce9b00b7f991b2f38"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7071b0092ad8c5b57d6cc40c5f803df5"><td class="memItemLeft" align="right" valign="top">std::random_device&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="main_8cpp.html#a7071b0092ad8c5b57d6cc40c5f803df5">rd</a></td></tr>
<tr class="separator:a7071b0092ad8c5b57d6cc40c5f803df5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2a811a65e867041bcee444e8e66188a9"><td class="memItemLeft" align="right" valign="top">UNIVERSAL_STATE&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">unity_state</a></td></tr>
<tr class="separator:a2a811a65e867041bcee444e8e66188a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<h2 class="groupheader">宏定义说明</h2>
<a id="a5ac4b17db930392c756a747dc7f98e5f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5ac4b17db930392c756a747dc7f98e5f">&#9670;&nbsp;</a></span>rout</h2>

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          <td class="memname">#define rout&#160;&#160;&#160;ROS_INFO</td>
        </tr>
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</div><div class="memdoc">

<p class="definition">在文件 <a class="el" href="main_8cpp_source.html">main.cpp</a> 第 <a class="el" href="main_8cpp_source.html#l00030">30</a> 行定义.</p>

</div>
</div>
<h2 class="groupheader">函数说明</h2>
<a id="a357c3c819884a88856b9af19f7056691"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a357c3c819884a88856b9af19f7056691">&#9670;&nbsp;</a></span>_copter_control_thread_Wrapper()</h2>

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          <td class="memname">void _copter_control_thread_Wrapper </td>
          <td>(</td>
          <td class="paramtype">PID_2D_control *&#160;</td>
          <td class="paramname"><em>p</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">positon_Local_NED_t &amp;&#160;</td>
          <td class="paramname"><em>input_pos_flow</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p class="definition">在文件 <a class="el" href="main_8cpp_source.html">main.cpp</a> 第 <a class="el" href="main_8cpp_source.html#l00040">40</a> 行定义.</p>
<div class="dynheader">
这是这个函数的调用关系图:</div>
<div class="dyncontent">
<div class="center"><img src="main_8cpp_a357c3c819884a88856b9af19f7056691_icgraph.png" border="0" usemap="#main_8cpp_a357c3c819884a88856b9af19f7056691_icgraph" alt=""/></div>
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<a id="a12ac40f811eae269ff4a59042875cb71"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a12ac40f811eae269ff4a59042875cb71">&#9670;&nbsp;</a></span>_rrt_thread_Wrapper()</h2>

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          <td class="memname">void _rrt_thread_Wrapper </td>
          <td>(</td>
          <td class="paramtype">CONNECT_RRT *&#160;</td>
          <td class="paramname"><em>p</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">PROBABILISTIC_MAP &amp;&#160;</td>
          <td class="paramname"><em>GridMap</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">FLY_PLAN_T &amp;&#160;</td>
          <td class="paramname"><em>current_route</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p class="definition">在文件 <a class="el" href="main_8cpp_source.html">main.cpp</a> 第 <a class="el" href="main_8cpp_source.html#l00043">43</a> 行定义.</p>
<div class="dynheader">
这是这个函数的调用关系图:</div>
<div class="dyncontent">
<div class="center"><img src="main_8cpp_a12ac40f811eae269ff4a59042875cb71_icgraph.png" border="0" usemap="#main_8cpp_a12ac40f811eae269ff4a59042875cb71_icgraph" alt=""/></div>
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<a id="a2a4c4a53067044ace13905beea7b2167"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2a4c4a53067044ace13905beea7b2167">&#9670;&nbsp;</a></span>_waypointsMangaerThread_Wrapper()</h2>

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      <table class="memname">
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          <td class="memname">void _waypointsMangaerThread_Wrapper </td>
          <td>(</td>
          <td class="paramtype">WP_UPDATER *&#160;</td>
          <td class="paramname"><em>p</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">FLY_PLAN_T &amp;&#160;</td>
          <td class="paramname"><em>fly_plan</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">positon_Local_NED_t &amp;&#160;</td>
          <td class="paramname"><em>target_pos_flow</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p class="definition">在文件 <a class="el" href="main_8cpp_source.html">main.cpp</a> 第 <a class="el" href="main_8cpp_source.html#l00050">50</a> 行定义.</p>
<div class="dynheader">
这是这个函数的调用关系图:</div>
<div class="dyncontent">
<div class="center"><img src="main_8cpp_a2a4c4a53067044ace13905beea7b2167_icgraph.png" border="0" usemap="#main_8cpp_a2a4c4a53067044ace13905beea7b2167_icgraph" alt=""/></div>
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<a id="a3c04138a5bfe5d72780bb7e82a18e627"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3c04138a5bfe5d72780bb7e82a18e627">&#9670;&nbsp;</a></span>main()</h2>

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          <td class="memname">int main </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>argc</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">char **&#160;</td>
          <td class="paramname"><em>argv</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p class="definition">在文件 <a class="el" href="main_8cpp_source.html">main.cpp</a> 第 <a class="el" href="main_8cpp_source.html#l00062">62</a> 行定义.</p>
<div class="dynheader">
函数调用图:</div>
<div class="dyncontent">
<div class="center"><img src="main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627_cgraph.png" border="0" usemap="#main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627_cgraph" alt=""/></div>
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<h2 class="memtitle"><span class="permalink"><a href="#abef969771cc38c5bef644aee2814c30f">&#9670;&nbsp;</a></span>spinWrapper()</h2>

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          <td class="memname">void spinWrapper </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
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</div><div class="memdoc">

<p class="definition">在文件 <a class="el" href="main_8cpp_source.html">main.cpp</a> 第 <a class="el" href="main_8cpp_source.html#l00033">33</a> 行定义.</p>
<div class="dynheader">
这是这个函数的调用关系图:</div>
<div class="dyncontent">
<div class="center"><img src="main_8cpp_abef969771cc38c5bef644aee2814c30f_icgraph.png" border="0" usemap="#main_8cpp_abef969771cc38c5bef644aee2814c30f_icgraph" alt=""/></div>
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<h2 class="memtitle"><span class="permalink"><a href="#aef80cffe0085e212ea7091537bd09d5b">&#9670;&nbsp;</a></span>system_init()</h2>

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          <td class="memname">void system_init </td>
          <td>(</td>
          <td class="paramtype">Parameters *&#160;</td>
          <td class="paramname"><em>_p_</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UNIVERSAL_STATE *&#160;</td>
          <td class="paramname"><em>_unity_</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UAVCONTROL_INTERFACE *&#160;</td>
          <td class="paramname"><em>_uav_ifs_</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">positon_Local_NED_t *&#160;</td>
          <td class="paramname"><em>target_pos_flow</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">FLY_PLAN_T *&#160;</td>
          <td class="paramname"><em>_sub_fly_wps_</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p class="definition">在文件 <a class="el" href="main_8cpp_source.html">main.cpp</a> 第 <a class="el" href="main_8cpp_source.html#l00054">54</a> 行定义.</p>
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这是这个函数的调用关系图:</div>
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<h2 class="groupheader">变量说明</h2>
<a id="ad5e0dbd36f0d71fce9b00b7f991b2f38"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad5e0dbd36f0d71fce9b00b7f991b2f38">&#9670;&nbsp;</a></span>mtx</h2>

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          <td class="memname">std::mutex mtx</td>
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<p class="definition">在文件 <a class="el" href="main_8cpp_source.html">main.cpp</a> 第 <a class="el" href="main_8cpp_source.html#l00026">26</a> 行定义.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7071b0092ad8c5b57d6cc40c5f803df5">&#9670;&nbsp;</a></span>rd</h2>

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          <td class="memname">std::random_device rd</td>
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<p class="definition">在文件 <a class="el" href="main_8cpp_source.html">main.cpp</a> 第 <a class="el" href="main_8cpp_source.html#l00027">27</a> 行定义.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a2a811a65e867041bcee444e8e66188a9">&#9670;&nbsp;</a></span>unity_state</h2>

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          <td class="memname">UNIVERSAL_STATE unity_state</td>
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<p class="definition">在文件 <a class="el" href="main_8cpp_source.html">main.cpp</a> 第 <a class="el" href="main_8cpp_source.html#l00029">29</a> 行定义.</p>

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